Three-dimensional scanning device, three-dimensional scanning method, three-dimensional measurement device, system and method

Abstract

The present invention relates to the field of three-dimensional scanning technology, and provides a three-dimensional scanning device, a three-dimensional scanning method, a three-dimensional measurement device, a system and a method. The three-dimensional scanning device includes multiple device units, each of which includes a shooting device and a projection device that meet a small baseline distribution. The projection device of each device unit is used to project light of respective preset directions to a target object, and the shooting device of each device unit is used to shoot a pattern formed by the intersection of light rays simultaneously projected on the target object by all projection devices, so as to obtain each image shot by each shooting device, so as to perform three-dimensional measurement on the target object based on multiple intersection points included in all images. The present invention makes the layout of the three-dimensional scanning device simpler and more compact, and expands its application scenarios.

Description

Technical Field

[0001] The present invention relates to the field of three-dimensional scanning technology, and in particular to a three-dimensional scanning device, a three-dimensional scanning method, a three-dimensional measuring device, a system and a method. Background Art

[0002] As an efficient and fast 3D digitization device, 3D scanners continue to expand their application scope in many fields, covering professional fields such as reverse engineering, industrial inspection, computer vision, and CG (Computer Graphics) production. Especially in the current rapidly developing 3D printing and intelligent manufacturing fields, 3D scanners have become a vital part of the industrial chain with their unique advantages of front-end 3D digitization and 3D visual sensing technology.

[0003] For mainstream handheld 3D scanners, when the pattern projected by the projector is a grid, a structure of a projector and two cameras is usually adopted, and the camera and projector are required to be placed at the vertices of an approximate right-angled triangle. This layout makes the final 3D scanning device relatively bloated, greatly limiting its application scenarios. Summary of the invention

[0004] The purpose of the present invention is to provide a three-dimensional scanning device, a three-dimensional scanning method, a three-dimensional measuring device, a system and a method, which can avoid the bloated layout of the three-dimensional scanning device and thus expand the application scenarios of the three-dimensional scanning device.

[0005] The embodiments of the present invention can be implemented as follows:

[0006] In a first aspect, the present invention provides a three-dimensional scanning device, which is applied to an electronic device, and the three-dimensional scanning device includes:

[0007] A plurality of equipment units, each of which includes a shooting device and a projection device that satisfy a small baseline distribution, the projection device of each of the equipment units is used to project light of respective preset directions to a target object, and the shooting device of each of the equipment units is used to shoot a pattern formed by the intersection of light rays simultaneously projected on the target object by all the projection devices, so as to obtain each image shot by each of the shooting devices, so as to perform three-dimensional measurement of the target object based on a plurality of intersection points included in all of the images.

[0008] In an optional embodiment, the projection devices of the multiple device units are equivalent to one equivalent projection device, and a first pattern projected by the equivalent projection device is equivalent to a second pattern formed by the multiple projection devices simultaneously projecting light, wherein the first pattern is a pattern formed by the light projected by the equivalent projection device toward the target object, and the second pattern is a pattern composed of light projected by the multiple projection devices simultaneously toward the target object.

[0009] In an optional embodiment, the multiple device units are distributed linearly, and a line connecting the device unit at one end and the optical center of the equivalent projection device is used as the first coordinate axis of the coordinate system, and a line connecting the device unit at the other end and the optical center of the equivalent projection device is used as the second coordinate axis of the coordinate system, and an angle between a line connecting the optical centers of the projection devices in the device units at both ends and the first coordinate axis or the second coordinate axis is greater than 5°.

[0010] In an optional implementation, the light plane projected by each of the projection devices passes through the optical center of the equivalent projection device.

[0011] In an optional implementation, the optical centers of all the projection devices and the optical centers of all the shooting devices are located on the same straight line.

[0012] In an optional implementation, the light rays projected by each of the projection devices include continuous lines or discontinuous lines.

[0013] In an optional embodiment, the pattern formed by the light projected by each of the projection devices includes at least one of a straight line, a dotted line, a preset pattern, and a plurality of lines with different widths.

[0014] In an optional implementation, the light projected by each of the projection devices is visible light or invisible light.

[0015] In an optional embodiment, the three-dimensional scanning device further includes a control circuit, and the control circuit is used to control the multiple projection devices to simultaneously project light to the target object and control the multiple shooting devices to simultaneously shoot the target object.

[0016] In an optional embodiment, the three-dimensional scanning device further includes a computing unit, and the computing unit is used to perform three-dimensional measurement of the target object based on a plurality of intersection points included in all images.

[0017] In a second aspect, the present invention provides a three-dimensional measurement device, the three-dimensional measurement device comprising an interface and a processor;

[0018] The interface is used to obtain multiple images of the target object, each of the images includes multiple intersections, each of the images is obtained by photographing a pattern on the target object by a photographing device of each device unit of the three-dimensional scanning device, and the pattern is formed by the projection devices of all the device units projecting light in respective preset directions toward the target object;

[0019] The processor is used to determine the three-dimensional coordinates of the target object based on the corresponding relationship between multiple intersection points in the multiple images, so as to achieve three-dimensional measurement of the target object.

[0020] In a third aspect, the present invention provides a three-dimensional scanning method, which is applied to a three-dimensional scanning device, wherein the three-dimensional scanning device includes a plurality of device units, each of which includes a shooting device and a projection device that satisfy a small baseline distribution, and the method includes:

[0021] The projection devices of each of the device units project light rays of respective preset directions toward the target object, so that a plurality of the light rays intersect and form a pattern on the target object;

[0022] The photographing device of each of the equipment units photographs the pattern on the target object to obtain each image, so as to perform three-dimensional measurement of the target object based on multiple intersections included in all the images.

[0023] In a fourth aspect, the present invention provides a three-dimensional measurement system, which includes the three-dimensional scanning device described in the first aspect and the three-dimensional measurement device described in the second aspect.

[0024] In a fifth aspect, the present invention provides a three-dimensional measurement method, which is applied to a three-dimensional measurement system, wherein the three-dimensional measurement system includes a three-dimensional scanning device and a three-dimensional measurement device, wherein the three-dimensional scanning device includes a plurality of device units, each of which includes a shooting device and a projection device that satisfy a small baseline distribution, and wherein the method includes:

[0025] Each of the photographing devices in the three-dimensional scanning device photographs a target object to obtain a plurality of images and sends the plurality of images to the three-dimensional measuring device;

[0026] The three-dimensional measuring device determines the three-dimensional coordinates of the target object based on the correspondence between multiple intersection points in each of the multiple images, so as to achieve three-dimensional measurement of the target object.

[0027] In an optional embodiment, the method further comprises:

[0028] Each of the equipment units moves along with the three-dimensional scanning device according to a preset trajectory, so that at each preset moment, the shooting device of each of the equipment units simultaneously shoots the patterns on each surface of the target object, and each image of each surface obtained, the pattern on each surface is formed by the intersection of light rays in respective preset directions simultaneously projected onto the surface of the target object by the projection devices of all the equipment units at the corresponding preset moment;

[0029] Determining the three-dimensional coordinates of each side of the target object based on a correspondence between a plurality of intersection points in each of the plurality of images of each side;

[0030] The target object is measured in three dimensions according to the three-dimensional coordinates of all surfaces of the target object.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] The present invention uses a shooting device and a projection device of a three-dimensional scanning device as a device unit, the projection device and the shooting device in the same device unit meet the small baseline distribution, the multiple projection devices in the multiple device units simultaneously project light in different directions to the target object, and the multiple shooting devices in the multiple device unit groups simultaneously shoot the multiple images obtained by the pattern formed by the intersection of the light on the target object, and realizes the three-dimensional measurement of the target object based on the multiple intersection points included in all images shot by all shooting devices in the three-dimensional scanning device. The present invention avoids the three-dimensional scanning device from being too bloated by utilizing multiple device units, and the projection device and the shooting device in the same device unit meet the small baseline distribution, making the three-dimensional scanning device simpler and more compact, and greatly expanding the application scenarios of the three-dimensional scanning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0034] Figure 1 This is an example diagram of the equivalent projection principle provided for this embodiment.

[0035] Figure 2 An example of the hardware architecture of the three-dimensional scanning device provided in this embodiment Figure 1 .

[0036] Figure 3 This is an example diagram of the grid intersection pattern provided in this embodiment.

[0037] Figure 4 An example diagram of the layout of multiple equipment units provided for this embodiment.

[0038] Figure 5 An example of the hardware architecture of the three-dimensional scanning device provided in this embodiment Figure 2 .

[0039] Figure 6 This is a block diagram of an exemplary three-dimensional measurement device provided in this embodiment.

[0040] Figure 7 This is an example diagram of the three-dimensional measurement system provided in this embodiment.

[0041] Figure 8 This is an example flowchart of the three-dimensional scanning method provided in this embodiment.

[0042] Fig. 9 This is an example flowchart of the three-dimensional measurement method provided in this embodiment.

[0043] Fig.10 This is an example diagram of images obtained by projecting and photographing the two groups of equipment units provided in this embodiment.

[0044] Fig.11 This is an example diagram of a real image captured by the shooting devices of the two device units provided in this embodiment.

[0045] Fig.12 An example diagram of the geometric center line provided for this embodiment.

[0046] Fig.13 This is an example diagram of selecting a distance threshold and selecting a threshold range provided in this embodiment.

[0047] Fig.14 This is an example diagram of target intersection points and points with the same name provided in this embodiment.

[0048] Fig.15 This is an example diagram of the identification of the intersection center line of the first image and the second image provided in this embodiment.

[0049] Icons: 10 - 3D scanning device; 11 - projection device; 12 - shooting device; 13 - calculation unit; 14 - storage unit; 15 - data transmission unit; 16 - control circuit; 20 - 3D measuring device; 21 - processor; 22 - interface. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0051] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0053] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0054] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0055] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0056] When the pattern projected by the projector of the 3D scanning device is a grid pattern, a structure of a projector and two cameras is adopted, and the camera and projector of the 3D scanning device are required to be placed at the vertices of an approximate right-angled triangle. This structural layout limits the implementation of the hardware structure and makes the final 3D measurement device bloated, which greatly limits the integration and implementation of the 3D scanning device and also limits its application scenarios.

[0057] In view of this, the present embodiment provides a three-dimensional scanning device, a three-dimensional scanning method, a three-dimensional measurement device, a system and a method, the core improvement of which is that, based on the principle of equivalent projection, multiple projection devices are used to simultaneously project light rays in different directions to a target object, and multiple shooting devices are used to simultaneously shoot multiple images formed by the intersection of light rays on the target object, and the projection device and the shooting device in the same device unit satisfy the small baseline distribution. By utilizing multiple device units, and the projection device and the shooting device in the same device unit satisfy the small baseline distribution, the three-dimensional scanning device is avoided from being too bloated, making the three-dimensional scanning device simpler and more compact, and greatly expanding the application scenarios of the three-dimensional scanning device, which will be described in detail below.

[0058] For ease of understanding, this embodiment first introduces the principle of equivalent projection. Figure 1 , Figure 1 This is an example diagram of the equivalent projection principle provided in this embodiment. Figure 1 There is a projector in the space , whose optical center is located at , the projected straight line The plane formed by the optical center passes through a point in space There is also a projector in the space. , and its optical center position is , The corresponding projected straight line With the light heart The planes formed also pass through the space At this point, you can and projector Equivalent to a projector , and its optical center position is , the projected pattern is and The grid formed by the intersection of the projected images, no matter how the projected grid is modulated by the height of the object surface, the corresponding shape of the pattern received by the camera remains unchanged. As a projection and An equivalent projection device of an equivalent grid pattern.

[0059] Based on the above equivalent projection principle, this embodiment provides a hardware architecture example diagram of a three-dimensional scanning device, please refer to Figure 2 , Figure 2 An example of the hardware architecture of the three-dimensional scanning device 10 provided in this embodiment Figure 1 , Figure 2 In the figure, a projection device 11 and a shooting device 12 are taken as a group of minimum device units. The projection device 11 and the shooting device 12 in the same group of device units satisfy the small baseline distribution, that is, the distance between the optical center of the projection device 11 and the optical center of the shooting device 12 is less than a preset value. Both satisfy the small baseline distribution. On the one hand, the overall size of the three-dimensional scanner is more compact, easy to carry and use, and its usage scenarios are expanded. On the other hand, the small baseline distribution means that the viewing angle of the projection pattern changes less, so that the deformation of the projection pattern captured by the shooting device 12 on the surface of the object will be more concentrated, which is convenient for rapid decoding and improves the efficiency of three-dimensional measurement.

[0060] The projection device 11 may include a light source, a mask, a lens, etc. The projection device 11 may be, but is not limited to, a DLP (Digital Light Processing) projector, an LCD (Liquid Crystal Display) projector, etc.

[0061] The photographing device 12 may be, but is not limited to, a structured light camera, a binocular stereo vision camera, a laser triangulation camera, a light field imaging camera, and the like.

[0062] Figure 2In the embodiment, the projection devices of multiple device units can be equivalent to one equivalent projection device, and the first pattern projected by the equivalent projection device and the second pattern formed by the multiple projection devices simultaneously projecting light are equivalent. The first pattern is a pattern formed by the light projected by the equivalent projection device to the target object, and the second pattern is a pattern composed of the light projected by the multiple projection devices simultaneously to the target object.

[0063] It should be noted that in actual application scenarios, two or more groups of equipment units can be used in a three-dimensional scanner.

[0064] In order to more vividly demonstrate the intersection of patterns projected by multiple projection devices, this embodiment takes the grid intersection pattern projected by two projection devices as an example for explanation. Figure 3 , Figure 3 This is an example diagram of a grid intersection pattern provided in this embodiment. Figure 3 In the figure, both the projection device 1 and the projection device 2 include a light source, a mask plate and a lens, and both project light to the target object at the same time. The solid lines in the grid pattern are formed by the light projected by the projection device 1, and the dotted lines are formed by the light projected by the projection device 2. The two intersect to form a grid intersection pattern. This is equivalent to a grid image formed by an equivalent projection device simultaneously projecting intersecting light in two directions.

[0065] In order to obtain a better measurement effect by using the images taken by the three-dimensional scanning device, this embodiment also provides a layout method for multiple device units, where the multiple device units are distributed linearly, and the line connecting the device unit at one end and the optical center of the equivalent projection device is used as the first coordinate axis of the coordinate system, and the line connecting the device unit at the other end and the optical center of the equivalent projection device is used as the second coordinate axis of the coordinate system. The angle between the line connecting the optical centers of the projection devices in the device units at both ends and the first coordinate axis or the second coordinate axis is greater than 5°. The angle greater than 5° means that within the allowable accuracy range of three-dimensional measurement, the specific degree of the angle can be appropriately adjusted according to the needs of the actual product layout. For example, the angle can be set to 45° or 30°.

[0066] It should also be noted that the linear distribution of multiple device units here does not mean that the optical centers of the multiple device units must be strictly on a straight line. In actual application scenarios, within the allowable accuracy range of three-dimensional measurement, the position coordinates of the optical centers of the multiple device units can be fitted into a straight line.

[0067] For a clearer description of the above layout, please refer to Figure 4 , Figure 4 An example diagram of the layout of multiple equipment units provided for this embodiment. Figure 4In the figure, there are three device units: a, b, and c, where a and c are the first device unit and the second device unit, respectively. The line connecting a and the optical center of the equivalent projection device is used as the x-axis of the coordinate system, and the line connecting c and the optical center of the equivalent projection device is used as the y-axis of the coordinate system. The angle between the line connecting the optical center of the projection device in a and the optical center of the projection device in c and the x-axis or the y-axis is 45°.

[0068] In addition, multiple device units may also be arranged in another manner: the light plane of the projection device of each device unit passes through the optical center of the equivalent projection device.

[0069] It should also be noted that the light plane of the projection device of each device unit passes through the optical center of the equivalent projection device in at least one preferred implementation. In fact, as long as it is within the allowable range of accuracy of three-dimensional measurement, the light plane of the projection device of each device unit can deviate appropriately from the optical center of the equivalent projection device within the allowable range.

[0070] As an implementation method, the light projected by the projection device of the three-dimensional scanning device includes continuous lines or discontinuous lines. The light projected by the projection device can be set according to the actual scene requirements.

[0071] As another implementation, the patterns formed by the light projected by the projection device of the 3D scanning device include at least one of a straight line, a dotted line, a preset image, and a plurality of lines of different widths, so that the pattern displayed on the surface of the target object includes at least one of a straight line, a dotted line, a preset image, and a plurality of lines of different widths, or a combination pattern formed by two or more types.

[0072] As another implementation method, the light projected by the projection device of the three-dimensional scanning device is visible light or invisible light, which can be white light, near-infrared light or ultraviolet light.

[0073] based on Figure 2 In order to facilitate the coordination and management of the workflows of various projection devices and shooting devices and ensure that the entire system can operate efficiently and stably, a control circuit can be added on this basis. The control circuit is used to control multiple projection devices to project light to the target object at the same time and control multiple shooting devices to shoot at the target object at the same time.

[0074] In addition, the control circuit can also ensure that each projection device projects a pattern at the right time, and the camera can capture these patterns at the right time. In the case of multiple projection devices and multiple camera devices working together, the control circuit needs to ensure the time synchronization between these devices in order to obtain consistent data.

[0075] As an implementation method, in addition to the control circuit, a computing unit, a storage unit, a data transmission unit, etc. can also be integrated in the three-dimensional scanning device 10 to integrate the three-dimensional scanning function and the three-dimensional measurement function into the same three-dimensional scanning device. This embodiment gives an example of a specific implementation method, please refer to Figure 5 , Figure 5 An example of the hardware architecture of the three-dimensional scanning device provided in this embodiment Figure 2 , Figure 5 In the figure, the three-dimensional scanning device 10 includes a plurality of device units, each of which includes a projection device 11 and a shooting device 12 , and also includes a calculation unit 13 , a storage unit 14 , a data transmission unit 15 and a control circuit 16 .

[0076] The computing unit 13 is used to process the image captured by the camera to achieve three-dimensional measurement of the target object. The computing unit 13 can be an FPGA (Field Programmable Logic Gate Array), an MCU (Microcontroller Unit), or the like.

[0077] The storage unit 14 is used to store a program or other relevant data for implementing the three-dimensional measurement method for three-dimensionally measuring a target object provided by this embodiment.

[0078] The data transmission unit 15 is used for image data transmission, that is, transmitting the image data captured by the shooting device to the computing unit for further processing. The data transmission unit is also used to ensure that the image data is not lost or damaged during the transmission process, thereby ensuring the accuracy of three-dimensional reconstruction. In addition, the data transmission unit can also be used for the transmission of control signals and the data exchange between the computing unit and the storage unit.

[0079] The control circuit 16 is used to control multiple projection devices to simultaneously project light to the target object and control multiple shooting devices to simultaneously shoot the target object. In addition, the control circuit 16 can also ensure that each projection device projects a pattern at the appropriate time, and the shooting device can capture these patterns at the right time. In the case where multiple projection devices and multiple shooting devices work together, the control circuit 16 needs to ensure time synchronization between these devices in order to obtain consistent data.

[0080] It should also be noted that, in order to ensure the effect of shooting images, the above-mentioned 3D scanning device 10 can also be equipped with a fill light for fill light. In order to facilitate the later 3D measurement, a texture camera can also be added for auxiliary tracking and point cloud coloring during line scanning.

[0081] In addition to the above-mentioned implementation method of integrating the 3D scanning function and the 3D measurement function into one 3D scanning device, the two functions can also be separated. The 3D scanning device is only responsible for performing 3D scanning to obtain an image on the surface of the target object. The 3D scanning device sends the acquired image to a 3D measurement device specifically responsible for 3D measurement calculation. The 3D measurement device analyzes and calculates the received image and finally obtains the 3D measurement result of the target object. This embodiment provides a block diagram of a 3D measurement device, please refer to Figure 6 , Figure 6 This is a block diagram of a three-dimensional measurement device 20 provided in this embodiment. Figure 6 In the embodiment, the three-dimensional measuring device 20 includes a processor 21 and an interface 22, and the processor 21 and the interface 22 are connected via a bus.

[0082] The processor 21 may be an integrated circuit chip having the ability to process signals. In the implementation process, each step of the three-dimensional measurement method of the above embodiment may be completed by an integrated logic circuit of hardware or software instructions in the processor 21. The above processor 21 may be a general-purpose processor, including a CPU (Central Processing Unit), a NP (Network Processor), etc.; it may also be a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Logic Gate Array) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0083] The interface 22 is used to obtain multiple images of the target object, each image includes multiple intersection points, each image is obtained by the shooting device of each device unit of the three-dimensional scanning device shooting a pattern on the target object, and the pattern is formed by the projection devices of all the device units projecting light in respective preset directions toward the target object;

[0084] The processor 21 is used to determine the three-dimensional coordinates of the target object based on the correspondence between multiple intersection points in multiple images, so as to achieve three-dimensional measurement of the target object.

[0085] Optionally, the three-dimensional measuring device may further include a memory for storing a program for implementing the three-dimensional measuring method. The program may be a software function module stored in the memory in the form of software or firmware or fixed in the OS (Operating System) of the three-dimensional measuring device 20 .

[0086] In actual application scenarios, the 3D scanning device and the 3D measuring device can also be integrated into a 3D measuring system to realize the functions of 3D scanning and 3D measuring. This embodiment provides an implementation method of the 3D measuring system. Please refer to Figure 7 , Figure 7 A block diagram of a three-dimensional measurement device provided in this embodiment, Figure 7 In the embodiment, the three-dimensional scanning device 10 may not have the computing unit 13, or may include the computing unit 13, but the three-dimensional measurement function of the computing unit 13 for the target object is temporarily closed, but the three-dimensional scanning device 10 is communicatively connected with the three-dimensional measuring device 20, and the three-dimensional scanning device sends the image captured by the shooting device 12 to the three-dimensional measuring device 20 for processing, and the three-dimensional measuring device realizes the three-dimensional measurement of the target object.

[0087] Based on the three-dimensional scanning device described above, this embodiment provides a three-dimensional scanning method for the three-dimensional scanning device, please refer to Figure 8 , Figure 8 This is a flowchart of a three-dimensional scanning method provided in this embodiment. The method includes:

[0088] Step S101, the projection devices of each device unit project light in respective preset directions toward a target object, so that a plurality of light rays intersect and form a pattern on the target object;

[0089] In step S102 , the photographing devices of each device unit photograph the pattern on the target object to obtain each image, so as to perform three-dimensional measurement of the target object based on multiple intersection points included in all the images.

[0090] Based on the three-dimensional measurement system described above, this embodiment provides a three-dimensional measurement method for the three-dimensional measurement system, please refer to Fig. 9 , Fig. 9 This is a flowchart of a three-dimensional measurement method provided in this embodiment, the method comprising:

[0091] Step S201, each shooting device in the three-dimensional scanning device shoots a target object to obtain multiple images and sends the multiple images to a three-dimensional measurement device;

[0092] In step S202 , the three-dimensional measuring device determines the three-dimensional coordinates of the target object based on the correspondence between the multiple intersection points in each of the multiple images, so as to achieve three-dimensional measurement of the target object.

[0093] When the target object has multiple faces, each face of the target object can be scanned in three dimensions to measure each face in three dimensions, and finally the three-dimensional measurement of the entire target object can be achieved. One implementation method is:

[0094] Step S203, each device unit moves along with the three-dimensional scanning device according to a preset trajectory, so that at each preset moment, the shooting device of each device unit simultaneously shoots the patterns on each surface of the target object, and each image of each surface is obtained. The pattern on each surface is formed by the intersection of light beams in respective preset directions simultaneously projected by the projection devices of all device units onto the surface of the target object at the corresponding preset moment;

[0095] Step S204, determining the three-dimensional coordinates of each face of the target object based on the correspondence between the multiple intersection points in each image of the multiple images of each face;

[0096] Step S205 , performing three-dimensional measurement on the target object according to the three-dimensional coordinates of all faces of the target object.

[0097] As described above, according to specific application scenarios, both 3D scanning equipment and 3D measuring equipment can perform 3D measurement of target objects based on images captured by the 3D scanning equipment. This embodiment introduces the 3D measurement method using two groups of equipment units as an example.

[0098] Please refer to Fig.10 , Fig.10 This is an example diagram of images obtained by projecting and photographing the two groups of equipment units provided in this embodiment. Fig.10 In the embodiment, device unit 1 includes a projection device a1 and a shooting device b1, and device unit 2 includes a projection device a2 and a shooting device b2. The projection device a1 projects light in the horizontal direction, and the projection device b2 projects light in the vertical direction. The two projection devices simultaneously project light to the target object, and the shooting devices b1 and b2 simultaneously shoot the target object to obtain image 1 and image 2, respectively. This embodiment will be based on Fig.10 The following concepts are introduced:

[0099] Intersection point: The point where the light rays projected by two projection devices intersect. Fig.10 The point where the light rays cast by a1 and a2 intersect is the intersection point. Since a1 and a2 both cast multiple rays at the same time, each ray cast by a1 and each ray cast by a2 generates an intersection point. For example Fig.10 The s0 in the figure is the intersection point where the l1 ray cast by a1 and the l2 ray cast by a2 intersect.

[0100] Two-dimensional coordinates of the intersection point in the image: For the same intersection point, the intersection point exists in each image captured by each camera. Therefore, the intersection point has a two-dimensional coordinate of its relative position in each image. Fig.10 In the figure, the intersection point s in image 1 and the intersection point s' in image 2 correspond to the same intersection point s0 generated by the same two rays.

[0101] Target image: In order to facilitate the alignment of the positions of the same intersection in multiple captured images, one of the multiple images captured by multiple shooting devices is selected as the target image, and the target image is used as the reference image. For example, Fig.10 In the example, image 1 is used as the target image.

[0102] Target shooting device: A shooting device that shoots a target image among the multiple device units is a target shooting device.

[0103] Other images: are images other than the target image in multiple device units. When the device unit is greater than 2, other images are multiple. For example, Fig.10 There is only one other image, image 2.

[0104] Other shooting devices: The shooting device that shoots one other image is called another shooting device. If there are multiple other images, each other image corresponds to one other shooting device. For example, Fig.10 In the figure, there is only one other shooting device, namely, shooting device b2.

[0105] The same-name points of the intersection in other images and their 2D coordinates: The intersection in the target image has a point matching its position in each other image. This point is called the same-name point of the intersection. The 2D coordinates of the relative position of the point in other images are the 2D coordinates of the same-name point. When there are multiple other images, an intersection has a same-name point in each other image. For example, Fig.10 In the equation, s' is the synonym of s.

[0106] 2D coordinate set of intersection points: One intersection point corresponds to one 2D coordinate set, which includes the 2D coordinates of the intersection point in each image captured by each camera. Specifically, the 2D coordinates of the intersection point include the 2D coordinates of the intersection point in the target image and the 2D coordinates of the same point in each other image. Fig.10 In , the two-dimensional coordinate set of the intersection point s includes the two-dimensional coordinate of s and the two-dimensional coordinate of its synonymous point s'.

[0107] Centerline of target image: For the geometric centerline of each line in the target image, calculate the geometric center of each line, thin each line into a single pixel width, and get the centerline. You can also accurately calculate the position of the geometric center and get the sub-pixel coordinates of each point on the centerline. Please refer to Fig.12 , Fig.12 An example diagram of the geometric center line provided for this embodiment. Fig.12 In the figure, line l is a line in the target image, which is thinned into a single pixel width, where the pixel points are as follows Fig.12 As shown by the circled x in the figure, the geometric center of all pixels is calculated to obtain the center line l'.

[0108] The centerline set of the target image: the set formed by all the centerlines in the target image. For example Fig.10 Each horizontal line and vertical line in image 1 has its own center line, and the center line set of image 1 includes the center lines of all horizontal lines and vertical lines in image 1.

[0109] Intersecting center lines: are the intersecting center lines in the center line set of the target image.

[0110] To more intuitively display the images captured by the cameras of the two equipment units, please refer to Fig.11 , Fig.11 This is an example diagram of a real image captured by the shooting devices of the two device units provided in this embodiment. Fig.11 Figures a(1) and a(2) are obtained when the projection devices of two equipment units simultaneously project horizontal rays and vertical rays respectively onto a plane, and two shooting devices simultaneously shoot at the plane respectively. Fig.11 Figures b(1) and b(2) are obtained when the projection devices of two equipment units simultaneously project horizontal light and vertical light respectively onto a three-dimensional sculpture, and two shooting devices simultaneously shoot the three-dimensional sculpture respectively.

[0111] This embodiment will introduce the three-dimensional measurement method provided by this embodiment based on the above-mentioned concepts. The method includes the following steps:

[0112] First, images captured by each capturing device are acquired, each image including a plurality of intersection points generated by the intersection of a plurality of light rays projected onto the target object.

[0113] In this embodiment, in order to further improve the three-dimensional measurement accuracy, each shooting device is configured to shoot the target object at the same time to obtain a corresponding image.

[0114] Secondly, a two-dimensional coordinate set corresponding to each intersection point is obtained respectively; the two-dimensional coordinate set includes the two-dimensional coordinates of the relative position of the intersection point in each image.

[0115] In this embodiment, the two-dimensional coordinates of the intersection point in the image may be the pixel coordinates of the intersection point in the image coordinate system.

[0116] Finally, the target object is measured in three dimensions based on the two-dimensional coordinate set of all intersection points.

[0117] In this embodiment, the three-dimensional information of the target object can be determined based on the sparse point cloud or the dense point cloud, and then the target object can be measured in three dimensions, depending on the application scenario of the three-dimensional measurement. For a sparse point cloud, the three-dimensional coordinates of the intersection are obtained based on the two-dimensional coordinate set of the intersection, and the sparse point cloud of the target object is obtained based on the three-dimensional information of the intersection, and the three-dimensional information of the target object is determined based on the sparse point cloud; for a dense point cloud, the three-dimensional information of the pixel points along the intersection is obtained based on the two-dimensional coordinate set of the intersection, and a dense point cloud with a smooth and dense distribution of the target object is obtained, and the three-dimensional information of the target object is determined based on the dense point cloud.

[0118] The above method provided in this embodiment utilizes multiple projection devices to simultaneously project light in different directions to the target object, and multiple shooting devices simultaneously shoot multiple images of the pattern formed by the intersection of light on the target object, and the projection devices and shooting devices in the same device unit satisfy the small baseline distribution, thereby realizing three-dimensional measurement of the target object according to the two-dimensional coordinates of each intersection point at the same position in the multiple images, thereby improving the efficiency of three-dimensional measurement while ensuring the accuracy of three-dimensional measurement.

[0119] In order to facilitate the registration of intersections in multiple images, so as to obtain accurate three-dimensional coordinates of the intersections according to the two-dimensional coordinates of the same intersection in multiple images, and realize accurate three-dimensional measurement, this embodiment uses the target image in multiple images as the reference image to determine the two-dimensional coordinate set corresponding to each intersection. Since the processing method of each intersection is similar, this embodiment takes an intersection as an example to illustrate the implementation method of obtaining the corresponding two-dimensional coordinate set:

[0120] (1) Determine the two-dimensional coordinates of the relative position of the intersection point in the target image, where the target image is obtained by capturing the target image in the three-dimensional scanner;

[0121] In this embodiment, in addition to selecting any one of the multiple images as the target image, the image with the highest definition from the multiple images can also be selected as the target image, or the image least affected by the shooting angle can be selected as the target image.

[0122] (2) determining the two-dimensional coordinates of the intersection point in all other images with the same name, where the same name points match the relative positions, and the other images are obtained by other shooting devices, and the other shooting devices are shooting devices other than the target shooting device in the three-dimensional scanner;

[0123] (3) All two-dimensional coordinates constitute the two-dimensional coordinate set corresponding to the intersection point.

[0124] In this embodiment, in order to quickly and accurately determine the intersection point and its two-dimensional coordinates in the target image, this embodiment first determines the point where the intersection center lines intersect, and then based on the pixel points near the intersection point, finally obtains the accurate two-dimensional coordinates of the intersection point. To this end, this embodiment provides an implementation method:

[0125] (1) Extract the center line set of the target image, which contains the center lines of all light rays;

[0126] In this embodiment, the method for extracting the center line of the target image can be: first, grayscale, noise reduction and other preprocessing are performed on the target image; secondly, edge detection and stripe line direction detection are performed on the preprocessed target image to identify the stripe lines and the directions of the stripe lines; finally, each stripe is refined into a single pixel width, and its geometric center is calculated to obtain the center line of each stripe line. The center lines of all stripes in the target image constitute the center line set of the target image.

[0127] (2) Traverse each position point in the target image. If multiple intersection center lines intersect at the same position point, take the corresponding position point as the intersection point to obtain all the intersection points in the target image, where the intersection center line belongs to the center line set;

[0128] In this embodiment, the intersection point may be an intersection point where two center lines intersect, or an intersection point where more than two center lines intersect.

[0129] (3) Obtaining a set of nearby pixel points corresponding to each intersection point, where the set of nearby pixel points includes pixel positions located on the intersection center line corresponding to the intersection point, and the distance between any pixel position point and the intersection point is less than or equal to the selected distance threshold;

[0130] In this embodiment, the set of nearby pixel points corresponding to the intersection is a set of pixel points located on the intersection center line corresponding to the intersection and whose distance from the intersection is less than or equal to the selected distance threshold. The larger the selected distance threshold, the more pixel points there are in the set of nearby pixel points, and the more accurate the two-dimensional coordinates of the intersection are finally obtained, but the amount of calculation will also be greater. Otherwise, the smaller the selected distance threshold, the fewer pixel points there are, the lower the accuracy of the two-dimensional coordinates, but the calculation efficiency will be improved. Therefore, the selected distance threshold can be set according to the needs of the actual scene.

[0131] In this embodiment, in addition to the method of selecting a distance threshold, a method of selecting a threshold range can also be used. For example, a circle with the intersection point as the center and a preset length as the radius is used as the selection threshold range. Pixel points within the selection threshold range and on the corresponding intersection center line belong to the pixel points in the nearby pixel point set. Please refer to Fig.13 , Fig.13This is an example diagram of two methods of selecting a distance threshold and selecting a threshold range provided in this embodiment. Fig.13 In the method of selecting the distance threshold, the distance threshold on the horizontal line and the distance threshold on the vertical line can be the same or different, which can be determined according to the actual situation. For the method of selecting the threshold range, the length of the radius can also be determined according to the actual situation.

[0132] (4) Based on the set of nearby pixel points, calculate the two-dimensional coordinates of the corresponding intersection point.

[0133] In this embodiment, a fitting method can be used. First, a fitting line corresponding to the intersection center line is fitted according to the pixel points in the nearby pixel point set, and then the coordinates of the intersection points of the fitting lines are calculated and used as the two-dimensional coordinates of the intersection points. The specific method can be: according to the nearby pixel point set corresponding to each intersection point, a fitting line corresponding to each intersection center line is fitted; and the corresponding two-dimensional coordinates are determined according to the intersection point of all the fitting lines of the intersection point.

[0134] It should be noted that the fitting methods include, but are not limited to, binomial fitting, straight line fitting, and the like.

[0135] In this embodiment, in order to determine the same-name points of the intersection in all other images, one implementation method is: first determine the intersection in other images, then match the intersection in other images with the intersection in the target image, and finally determine the same-name points of the intersection in the target image in other images; another implementation method can also be used, that is, first determine the middle coordinates of the intersection in the world coordinate system, and then back-project the middle coordinates to other images to obtain the return point, and take the intersection closest to the return point in the intersection of other images as the same-name point. This embodiment uses any target intersection to illustrate the implementation method of determining:

[0136] First, a reference light plane of a target intersection is obtained. The target intersection is any intersection in the target image. The target intersection is formed by the intersection of a target light ray and other light rays. The target light ray is projected by a target projection device, and other light rays are projected by other projection devices. The reference light plane is a light plane corresponding to the target light ray. The target projection device and the target shooting device belong to the same device unit, and other projection devices and other shooting devices belong to the same device unit.

[0137] Secondly, according to the optical center coordinates of the target shooting device, the reference light plane of the target intersection point and the two-dimensional coordinates of the target intersection point, the intermediate coordinates of the target intersection point in the world coordinate system are calculated;

[0138] In this embodiment, for the target intersection point, the light equation passing through the target intersection point can be determined by the optical center coordinates of the target shooting device and the two-dimensional coordinates of the intersection point in the target image. The light equation can be expressed as follows:

[0139]

[0140]

[0141]

[0142] in,( , , ) is the optical center coordinate of the target shooting device, ( , , ) is the two-dimensional coordinate of the target intersection point, and t is the parameter.

[0143] The reference light plane of the target light is also known, and the reference light plane is expressed as follows:

[0144]

[0145] in,( , , ) is the optical center coordinate of the target projection device, ( , , ) is the plane normal vector corresponding to the target light.

[0146] By combining the above light equation and the reference light plane, the intermediate coordinates of the target intersection point can be obtained.

[0147] Finally, the target intersection point's homonymous point and its two-dimensional coordinates in each other image are determined by back-projecting the intermediate coordinates of the target intersection point to each other image.

[0148] In this embodiment, the intermediate coordinates are the three-dimensional coordinates of the target intersection in the world coordinate system. This three-dimensional coordinate can only represent a relatively rough position with poor precision. In order to obtain a three-dimensional coordinate with higher precision, this embodiment projects the intermediate coordinates to other images, and then determines the same-name points of the intersection in other images. The three-dimensional coordinates of the intersection with higher precision are determined by the intersection and its same-name points. This embodiment provides an implementation method:

[0149] The intermediate coordinates of the target intersection point are projected back to each other image to obtain the projection point of the target intersection point relative to each other image; the reference pixel points and their two-dimensional coordinates whose distances from the corresponding projection points among the multiple intersection points of each other image are less than a preset distance are used as the same-name points and their two-dimensional coordinates of the target intersection point in each other image.

[0150] Please refer to Fig.14 , Fig.14This is an example diagram of target intersection points and points with the same name provided in this embodiment. Fig.14 In the method, the target intersection point in the target image is first projected to the intermediate coordinate in the world coordinate system, and then projected from the intermediate coordinate to other images, and then the point closest to it is determined from other images, and finally the same-name point is determined.

[0151] In this embodiment, after obtaining the two-dimensional coordinate set of all intersection points, the three-dimensional information of the target object can be determined by determining a sparse point cloud, or the three-dimensional information of the target object can be determined by determining a dense point cloud, and finally the three-dimensional measurement of the target object can be achieved, which will be introduced one by one in this embodiment.

[0152] In order to obtain a sparse point cloud, it can be achieved by determining the three-dimensional coordinates of the intersection point. The three-dimensional coordinates of the intersection point are determined as follows:

[0153] (1) Calculate the three-dimensional coordinates of the intersection point in the world coordinate system based on the first two-dimensional coordinates and other two-dimensional coordinates; the first two-dimensional coordinates are the two-dimensional coordinates of the relative position of the intersection point in the target image; the other two-dimensional coordinates are the two-dimensional coordinates of the same point of the intersection point in any other image;

[0154] In this embodiment, when there is only one point of the same name at the intersection, the three-dimensional coordinates of the intersection in the world coordinate system can be calculated based on the intersection and its points of the same name. When there are multiple points of the same name at the intersection, the three-dimensional coordinates of the intersection can be calculated based on the intersection and any of its points of the same name. A reference three-dimensional coordinate can also be calculated based on the intersection and each point of the same name, and then the three-dimensional coordinates of the intersection can be finally calculated based on all the reference three-dimensional coordinates. For example, the average value of all the reference three-dimensional coordinates can be used as the three-dimensional coordinates of the intersection.

[0155] This embodiment takes the calculation of three-dimensional coordinates by the first two-dimensional coordinates and any other two-dimensional coordinates as an example, and the method of calculating the three-dimensional coordinates can be: according to the first two-dimensional coordinates and the internal and external parameters of the target shooting device, obtain the first mapping equation of the intersection; according to the other two-dimensional coordinates and the internal and external parameters of the other shooting devices, obtain the second mapping equation of the intersection; according to the first mapping equation and the second mapping equation, calculate the three-dimensional coordinates of the intersection in the world coordinate system. Among them, the internal and external parameters include internal parameters and external parameters, the internal parameters include focal length, principal point coordinates, pixel size, distortion coefficient, etc., the external parameters include rotation matrix and translation vector, and both the internal and external parameters can be expressed in the form of a matrix.

[0156] (2) Perform three-dimensional measurement of the target object based on the three-dimensional coordinates of all intersection points.

[0157] In this embodiment, the corresponding sparse point cloud can be obtained according to the three-dimensional coordinates of all the intersection points, and then the three-dimensional measurement of the target object can be performed.

[0158] Since the accuracy of 3D measurement based on sparse point clouds is limited, in order to obtain a higher-precision 3D measurement result, 3D measurement can also be performed based on dense point clouds. The dense point cloud needs to first determine the 3D coordinates of each pixel point on the intersection center line where the intersection point is located, and obtain the dense point cloud according to the 3D coordinates of each sparse point on the intersection center line. This embodiment provides an implementation method:

[0159] (1) determining a first target intersection center line corresponding to the light projected by the first projection device from among the plurality of intersection center lines;

[0160] (2) determining a second target intersection center line according to the first target intersection center line, the first target intersection center line intersects with the second target intersection center line, and the second target intersection center line corresponds to the light projected by the second projection device;

[0161] (3) determining the two-dimensional coordinates of each pixel point on the intersection center line of the first target on the first image; the first image is obtained by photographing a first photographing device, and the first photographing device and the first projection device belong to the same device unit;

[0162] (4) determining the two-dimensional coordinates of the same-name points of each pixel on the second image; the second image is obtained by photographing a second photographing device, and the second photographing device and the second projection device belong to the same device unit;

[0163] In this embodiment, the first shooting device and the second shooting device are any two shooting devices in the plurality of device units, and this embodiment is described by taking any two intersecting first target intersection center lines and second target intersection center lines in the first image shot by the first shooting device as an example. The first target intersection center line and the second intersection center line correspond to the light projected by the first projection device and the second projection device, respectively.

[0164] In an optional implementation, for any pixel point on the first target intersection center line, determining the two-dimensional coordinates of its pixel homonymous point on the second image may be achieved by:

[0165] First, according to the intersection point and the same-name point at the intersection position of the first target intersection center line and the second target intersection center line, a reference intersection center line corresponding to the second target intersection center line in the second image is determined, and the reference intersection center line and the second target intersection center line correspond to the same light beam projected by the second target projection device;

[0166] In this embodiment, the intersection point is located at the intersection of the first target intersection center line and the second target intersection center line. The reference intersection center line where the intersection point with the same name is located and the second target intersection center line correspond to the same light ray projected by the second target projection device, and the identifications of the two are the same. Since the light ray corresponding to the first target intersection center line in the first image is projected by the first projection device, the identification of the first target intersection center line is known, and the equation of the corresponding light ray is also known. However, the light ray corresponding to the second target intersection center line in the first image is projected by the second projection device, and its identification is unknown. However, since the identifications of the second target intersection center line and the reference intersection center line are the same, and for the second image, the identification of the reference intersection center line corresponding to the light ray projected by the second projection device is known, the identification of the reference intersection center line in the second image can be used as the identification of the second target intersection center line. Please refer to Fig.15 , Fig.15 This is an example diagram of the identification of the intersection center line of the first image and the second image provided in this embodiment, Fig.15 In the figure, both the first image and the second image include a plurality of horizontal and vertical stripes, namely g1-h1 to g1-h6, g1-v1 to g1-v6, g2-h1 to g2-h6, and g2-v1 to g2-v6. The identification of the horizontal stripes in the first image is known, and the identification of the vertical stripes in the second image is known. For example, the vertical stripe g1-v1 in the first image corresponds to the vertical stripe g2-v1 in the second image. For comparison with the cross center line, the identification of the vertical stripe g1-v1 in the first image is the identification of g2-v1. Similarly, the horizontal stripes in the second image can also be obtained by the identification of the corresponding horizontal stripes in the first image. For example, the identification of g2-h2 in the second image is the same as the identification of g1-h2 in the first image.

[0167] Secondly, the control line equation is obtained according to the identification of the control cross center line;

[0168] Third, calculate the epipolar line of the pixel points on the first target intersection center line;

[0169] In this embodiment, the pixel point with the same name in the second image corresponding to the pixel point must be on the epipolar line. The epipolar line of the pixel point can be calculated by first calculating the basic matrix based on the two-dimensional coordinates of the intersection point of the intersection center line of the first target and the intersection center line of the second target and the points with the same name, wherein the basic matrix represents the mapping geometric relationship between the first image and the second image; and then calculating its epipolar line based on the basic matrix and the pixel point.

[0170] Finally, the intersection of the kernel line of the pixel point and the control line equation is determined as the pixel homonymous point corresponding to the pixel point.

[0171] In this embodiment, since the pixel homonymous points of the pixel points in the second image must be on the epipolar line and also on the reference line projected by the second projection device, the pixel homonymous points can be determined by solving the intersection of the epipolar line and the reference line equations.

[0172] (5) Calculate the three-dimensional coordinates of the corresponding pixel based on the two-dimensional coordinates of each pixel and the two-dimensional coordinates of the corresponding pixel’s same-name point;

[0173] In this embodiment, the method of determining the three-dimensional coordinates of the corresponding pixel point based on the two-dimensional coordinates of the pixel point and the two-dimensional coordinates of its homonymous point is similar to the method of determining the three-dimensional coordinates of the intersection point based on the two-dimensional coordinates of the intersection point and its homonymous point, which has been introduced in the previous text and will not be repeated here.

[0174] (6) Perform three-dimensional measurement of the target object based on the three-dimensional coordinates of all pixel points on all intersection center lines.

[0175] The method for determining the pixel homonymous points of each pixel point on each intersection center line is the same, and each intersection center line is sequentially used as the first target intersection center line to obtain the three-dimensional coordinates of all pixel points on all intersection center lines.

[0176] It should be noted that since there are intersection points with known three-dimensional coordinates on the intersection center line, it is also possible to determine only the three-dimensional coordinates of other pixel points except the intersection points, and then obtain the three-dimensional coordinates of all pixel points on the intersection center line based on the three-dimensional coordinates of the intersection points and the three-dimensional coordinates of other pixel points.

[0177] In addition to the above-mentioned 3D measurement method, a monocular depth estimation method can also be used. The image obtained by the 3D scanning device is used for depth estimation to obtain the corresponding depth value, and then the target object is measured in three dimensions based on the depth value and the internal and external parameters of the shooting device. One implementation method is: for each image obtained by the 3D scanning device, a pre-trained depth estimation model is used to output a depth map containing depth information, and finally multiple depth maps are obtained. A depth map can be calculated based on the multiple depth maps, and then three-dimensional reconstruction can be performed based on this depth map. Alternatively, a corresponding 3D reconstruction result can be obtained based on each depth map, and then the multiple 3D reconstruction results are calculated to obtain the final 3D reconstruction result.

[0178] It should be noted that the three-dimensional measurement method provided in this embodiment can be implemented across platforms and can be run in different operating systems or computer hardware architectures, for example, Linux, ARM (Advanced Reduced Instruction Set Computer Machine), etc.

[0179] In summary, the embodiments of the present invention provide a three-dimensional scanning device, a three-dimensional scanning method, a three-dimensional measurement device, a system and a method. The three-dimensional scanning device includes: multiple device units, each device unit includes a shooting device and a projection device that satisfy a small baseline distribution, the projection device of each device unit is used to project light in its own preset direction to the target object, the shooting device of each device unit is used to shoot a pattern formed by the intersection of light rays projected simultaneously on the target object by all projection devices, and obtain each image shot by each shooting device, so as to perform three-dimensional measurement of the target object based on the multiple intersection points included in all images. Compared with the prior art, this embodiment has at least the following advantages: (1) Multiple shooting devices in multiple device units simultaneously shoot multiple images of the pattern formed by the intersection of light rays on the target object, thereby realizing three-dimensional measurement of the target object according to the two-dimensional coordinates of each intersection point at the same position in the multiple images, thereby improving the efficiency of three-dimensional measurement; (2) The projection device and the shooting device in the same device unit meet the small baseline distribution, which makes the overall size of the three-dimensional scanner more compact while ensuring the measurement accuracy, and is easy to carry and use, thereby expanding its use scenarios; (3) The combination of multiple projection devices and multiple shooting devices can further improve the integrity and accuracy of three-dimensional measurement; (4) When multiple device units are laid out, they are located outside the equivalent projection device and do not need to be strictly limited to a certain geometric space. The layout is more flexible, which greatly facilitates the design of the hardware structure.

[0180] The above are only various embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A three-dimensional scanning device, characterized in that: The three-dimensional scanning device comprises: A plurality of equipment units, each of which includes a shooting device and a projection device that satisfy a small baseline distribution, the plurality of equipment units are linearly distributed, the projection devices of the plurality of equipment units are equivalent to an equivalent projection device, a first pattern projected by the equivalent projection device and a second pattern formed by the light rays simultaneously projected by the plurality of projection devices are equivalent, the first pattern is a pattern formed by the light rays projected by the equivalent projection device to the target object, the second pattern is a pattern composed of the light rays simultaneously projected by the plurality of projection devices to the target object, the projection devices of the plurality of equipment units are used to project light rays of respective preset directions to the target object, the shooting devices of the plurality of equipment units are used to shoot a pattern formed by the intersection of the light rays simultaneously projected by all projection devices on the target object, and obtain each image shot by each shooting device, so that when the plurality of equipment units move along with the three-dimensional scanning device according to a preset trajectory, the shooting devices of each equipment unit simultaneously shoot the patterns on each surface of the target object at each preset time, and each image of each surface is obtained, and three-dimensional measurement of the target object is performed based on a plurality of intersection points included in all the images of all the surfaces; For any face, the multiple images of the face include a target image and other images, the target image is photographed by a target photographing device in the multiple device units, and the other images are photographed by other photographing devices in the multiple device units except the target photographing device; for any intersection point in the target image, there is a same-name point corresponding to the intersection point in the other images, the intersection point and the corresponding same-name point correspond to the same intersection point, and the intersection point is an intersection point generated by the intersection of two light rays projected by two projection devices; The three-dimensional coordinates of the intersection points are calculated according to the two-dimensional coordinates of the intersection points in the target image and the two-dimensional coordinates of the corresponding points of the same name in other images, and the target object is measured in three dimensions according to the three-dimensional coordinates of all the intersection points of all faces.

2. The three-dimensional scanning device according to claim 1, characterized in that: The line connecting the device unit at one end and the optical center of the equivalent projection device is used as the first coordinate axis of the coordinate system, and the line connecting the device unit at the other end and the optical center of the equivalent projection device is used as the second coordinate axis of the coordinate system. The angle between the line connecting the optical centers of the projection devices in the device units at both ends and the first coordinate axis or the second coordinate axis is greater than 5°.

3. The three-dimensional scanning device according to claim 1, characterized in that: The light plane projected by each of the projection devices passes through the optical center of the equivalent projection device.

4. The three-dimensional scanning device according to claim 1, characterized in that: The optical centers of all the projection devices and the optical centers of all the shooting devices are located on the same straight line.

5. The three-dimensional scanning device according to claim 1, characterized in that: The light rays projected by each of the projection devices include continuous lines or discontinuous lines.

6. The three-dimensional scanning device according to claim 1, characterized in that: The pattern formed by the light projected by each of the projection devices includes at least one of a straight line, a dotted line, a preset pattern, and a plurality of lines with different widths.

7. The three-dimensional scanning device according to claim 1, characterized in that: The light projected by each of the projection devices is visible light or invisible light.

8. The three-dimensional scanning device according to claim 1, characterized in that: The three-dimensional scanning device also includes a control circuit, which is used to control the multiple projection devices to simultaneously project light to the target object and control the multiple shooting devices to simultaneously shoot at the target object.

9. The three-dimensional scanning device according to claim 1, characterized in that: The three-dimensional scanning device also includes a calculation unit, which is used to perform three-dimensional measurement of the target object based on a plurality of intersection points included in all images.

10. A three-dimensional measuring device, characterized in that: The three-dimensional measurement device includes an interface and a processor; The interface is used to obtain multiple images of the target object, each of the images includes multiple intersections, each of the images is obtained by photographing a pattern on the target object by a photographing device of each device unit of the three-dimensional scanning device, the pattern is formed by the projection devices of all the device units projecting light in respective preset directions toward the target object, each of the device units includes a photographing device and a projection device that satisfy a small baseline distribution, a plurality of the device units are linearly distributed, the projection devices of the plurality of the device units are equivalent to an equivalent projection device, a first pattern projected by the equivalent projection device and a second pattern formed by the light projected by the plurality of the projection devices simultaneously are equivalent, the first pattern is a pattern formed by the light projected by the equivalent projection device toward the target object, and the second pattern is a pattern composed of light projected by the plurality of the projection devices simultaneously toward the target object; The processor is used to determine the three-dimensional coordinates of the target object based on the correspondence between the multiple intersections in the multiple images, so that when the multiple device units move along the three-dimensional scanning device according to the preset trajectory, the shooting device of each device unit simultaneously shoots the patterns on each surface of the target object at each preset time, and each image of each surface is obtained, and the three-dimensional measurement of the target object is realized based on the multiple intersections included in all images of all surfaces; For any face, the multiple images of the face include a target image and other images, the target image is photographed by a target photographing device in the multiple device units, and the other images are photographed by other photographing devices in the multiple device units except the target photographing device; for any intersection point in the target image, there is a same-name point corresponding to the intersection point in the other images, the intersection point and the corresponding same-name point correspond to the same intersection point, and the intersection point is an intersection point generated by the intersection of two light rays projected by two projection devices; The three-dimensional coordinates of the intersection points are calculated according to the two-dimensional coordinates of the intersection points in the target image and the two-dimensional coordinates of the corresponding points of the same name in other images, and the target object is measured in three dimensions according to the three-dimensional coordinates of all the intersection points of all faces.

11. A three-dimensional scanning method, characterized in that: Applied to a three-dimensional scanning device, the three-dimensional scanning device includes a plurality of device units, each of the device units includes a shooting device and a projection device that satisfy a small baseline distribution, the plurality of device units are linearly distributed, the projection devices of the plurality of device units are equivalent to an equivalent projection device, a first pattern projected by the equivalent projection device and a second pattern formed by the light rays simultaneously projected by the plurality of projection devices are equivalent, the first pattern is a pattern formed by the light rays projected by the equivalent projection device to the target object, and the second pattern is a pattern composed of the light rays simultaneously projected by the plurality of projection devices to the target object, the method includes: The projection devices of each of the device units project light rays of respective preset directions toward the target object, so that a plurality of the light rays intersect and form a pattern on the target object; The photographing device of each of the equipment units photographs the pattern on the target object to obtain each image, so that when the multiple equipment units move along with the three-dimensional scanning device according to a preset trajectory, the photographing device of each of the equipment units simultaneously photographs the pattern on each surface of the target object at each preset time, and each image of each surface is obtained, and the target object is three-dimensionally measured based on multiple intersections included in all the images of all the surfaces; For any face, the multiple images of the face include a target image and other images, the target image is photographed by a target photographing device in the multiple device units, and the other images are photographed by other photographing devices in the multiple device units except the target photographing device; for any intersection point in the target image, there is a same-name point corresponding to the intersection point in the other images, the intersection point and the corresponding same-name point correspond to the same intersection point, and the intersection point is an intersection point generated by the intersection of two light rays projected by two projection devices; The three-dimensional coordinates of the intersection points are calculated according to the two-dimensional coordinates of the intersection points in the target image and the two-dimensional coordinates of the corresponding points of the same name in other images, and the target object is measured in three dimensions according to the three-dimensional coordinates of all the intersection points of all faces.

12. A three-dimensional measurement system, characterized in that: The three-dimensional measurement system comprises the three-dimensional scanning device according to any one of claims 1 to 9 and the three-dimensional measurement device according to claim 10.

13. A three-dimensional measurement method, characterized in that: The invention is applied to a three-dimensional measurement system, wherein the three-dimensional measurement system comprises a three-dimensional scanning device and a three-dimensional measurement device, wherein the three-dimensional scanning device comprises a plurality of device units, wherein the plurality of device units are linearly distributed, wherein each of the device units comprises a shooting device and a projection device satisfying a small baseline distribution, wherein the projection devices of the plurality of device units are equivalent to an equivalent projection device, wherein a first pattern projected by the equivalent projection device is equivalent to a second pattern formed by light projected by a plurality of the projection devices simultaneously, wherein the first pattern is a pattern formed by light projected by the equivalent projection device to a target object, and the second pattern is a pattern composed of light projected by a plurality of the projection devices simultaneously to a target object, and wherein the method comprises: Each of the photographing devices in the three-dimensional scanning device photographs the target object to obtain a plurality of images and sends the plurality of images to the three-dimensional measuring device; The three-dimensional measurement device determines the three-dimensional coordinates of the target object based on the correspondence between the multiple intersections in each of the multiple images, so that when the multiple device units move along with the three-dimensional scanning device according to the preset trajectory, the shooting device of each of the device units simultaneously shoots the patterns on each surface of the target object at each preset time, and each image of each surface is obtained, and the three-dimensional measurement of the target object is realized based on the multiple intersections included in all images of all surfaces; For any face, the multiple images of the face include a target image and other images, the target image is photographed by a target photographing device in the multiple device units, and the other images are photographed by other photographing devices in the multiple device units except the target photographing device; for any intersection point in the target image, there is a same-name point corresponding to the intersection point in the other images, the intersection point and the corresponding same-name point correspond to the same intersection point, and the intersection point is an intersection point generated by the intersection of two light rays projected by two projection devices; The three-dimensional coordinates of the intersection points are calculated according to the two-dimensional coordinates of the intersection points in the target image and the two-dimensional coordinates of the corresponding points of the same name in other images, and the target object is measured in three dimensions according to the three-dimensional coordinates of all the intersection points of all faces.

14. The three-dimensional measurement method according to claim 13, characterized in that: The method further comprises: Each of the equipment units moves along with the three-dimensional scanning device according to a preset trajectory, so that at each preset moment, the shooting device of each of the equipment units simultaneously shoots the patterns on each surface of the target object, and each image of each surface obtained, the pattern on each surface is formed by the intersection of light rays in respective preset directions simultaneously projected onto the surface of the target object by the projection devices of all the equipment units at the corresponding preset moment; Determining the three-dimensional coordinates of each side of the target object based on a correspondence between a plurality of intersection points in each of the plurality of images of each side; The target object is measured in three dimensions according to the three-dimensional coordinates of all surfaces of the target object.

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